Direct Mount Compact ATR Support
Summary
The DM (Direct Mount) ATRs are smaller lightweight platforms that do not have the same clearance or capacity as the larger ATRs, but perform exceptionally well. They are all direct drive with the wheel axles mounted directly to the motor output shafts. This means that the motor shafts absorb the entire weight of the robot, which is why they cannot support heavy loads. These robots, however, are a less expensive option since there are fewer parts and the chassis is simpler. The chassis requires minimal welding making them very cost effective. Also, since they are small and lightweight, they are very maneuverable and easy to control and they can fit in spaces that some of the larger robots cannot.
Platforms
We offer a few different DM platforms. They are all made of aluminum that is cut on our CNC plasma table and bent on our CNC break press and are designed for IG32 and IG32P gear motors.
- 4WD Compact IG32 DM: This chassis is made out of 3/32" aluminum, has bent sides and welded corners, and an open bottom.
- Vectoring IG32 DM: This chassis is similar to the 4WD Compact IG32 DM chassis but is designed to accommodate mecanum wheels allowing the robot to vector.
- Trianglular Omni Wheel IG32 DM: This is a 3WD chassis designed to use omni wheels that allow the robot to vector.
Motors and Motor Mounts
Two different motor sizes are available for this kit. Both motors work well. The larger motors will deliver more power for climbing, etc, but will draw more current from the batteries. You will need four motors (one per wheel).
No Motor housings are necessary with this kit, the platform has mounting holes already in it to hold the four motors.
- 24VDC 191 RPM Gear Motor (~7.5kg-cm stall Torque)
- 24VDC 190 RPM Gear Motor (~35kg-cm stall Torque)
Wheels and Drive Shafts
As mentioned above, there are a few types of wheel and drive shafts for the different robot chassis. The following wheel and drive shaft sets for these robots: